Topic
Inertial frame of reference
About: Inertial frame of reference is a research topic. Over the lifetime, 5192 publications have been published within this topic receiving 63281 citations.
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TL;DR: In this paper, it was shown that it is possible to formulate the Relativity postulates in a way that does not lead to inconsistencies in the case of spacetimes whose short-distance structure is governed by an observer-independent length scale.
Abstract: I show that it is possible to formulate the Relativity postulates in a way that does not lead to inconsistencies in the case of spacetimes whose short-distance structure is governed by an observer-independent length scale. The consistency of these postulates proves incorrect the expectation that modifications of the rules of kinematics involving the Planck length would necessarily require the introduction of a preferred class of inertial observers. In particular, it is possible for every inertial observer to agree on physical laws supporting deformed dispersion relations of the type E2-c2 p2-c4m2 + f(E, p, m; Lp) =0, at least for certain types of f.
1,204 citations
01 Jan 2007
TL;DR: This work introduces inertial navigation, focusing on strapdown systems based on MEMS devices, and concludes that whilst MEMS IMU technology is rapidly improving, it is not yet possible to build a MEMS based INS which gives sub-meter position accuracy for more than one minute of operation.
Abstract: Until recently the weight and size of inertial sensors has prohibited their use in domains such as human motion capture. Recent improvements in the performance of small and lightweight micromachined electromechanical systems (MEMS) inertial sensors have made the application of inertial techniques to such problems possible. This has resulted in an increased interest in the topic of inertial navigation, however current introductions to the subject fail to sufficiently describe the error characteristics of inertial systems. We introduce inertial navigation, focusing on strapdown systems based on MEMS devices. A combination of measurement and simulation is used to explore the error characteristics of such systems. For a simple inertial navigation system (INS) based on the Xsens Mtx inertial measurement unit (IMU), we show that the average error in position grows to over 150 m after 60 seconds of operation. The propagation of orientation errors caused by noise perturbing gyroscope signals is identified as the critical cause of such drift. By simulation we examine the significance of individual noise processes perturbing the gyroscope signals, identifying white noise as the process which contributes most to the overall drift of the system. Sensor fusion and domain specific constraints can be used to reduce drift in INSs. For an example INS we show that sensor fusion using magnetometers can reduce the average error in position obtained by the system after 60 seconds from over 150 m to around 5 m. We conclude that whilst MEMS IMU technology is rapidly improving, it is not yet possible to build a MEMS based INS which gives sub-meter position accuracy for more than one minute of operation.
924 citations
Book•
01 Jan 1965
TL;DR: In this article, the Lagrange Equations are used to model the dynamics of a rigid body and a system of parts of a particle system with respect to the velocity of a single particle.
Abstract: 1. Introductory Concepts. 2. Kinematics of a Particle. 3. Dynamics of a Particle. 4. Dynamics of a System of Particles. 5. Orbital Motion. 6. Lagrange's Equations. 7. Basic Concepts and Kinematics of Rigid Body Motion. 8. Dynamics of a Rigid Body. 9. Vibration Theory. Appendices: Inertial Properties of Homogeneous Bodies. Answers to Selected Problems. Index.
773 citations
Book•
01 Jan 2002
TL;DR: In this article, the inverse problem of dynamics mechanical work and energy in human movement is studied, where inertial properties of cadavers are measured in living subjects geometric modeling of human body segments.
Abstract: External contact forces statics of multilink serial chains - transformational analysis statics of multilink chains - stability of equilibrium inertial properties of the human body joint torques and forces - the inverse problem of dynamics mechanical work and energy in human movement. Appendices: inertial properties of cadavers inertial properties measured in living subjects geometric modeling of human body segments.
665 citations
Book•
24 Nov 2000
TL;DR: In this article, the global positioning system (GPS) geodetic application is considered and an initialization and alignment of the GPS system is described in terms of the inertial measurement unit (IMU).
Abstract: Coordinate frames and transformations ordinary differential equations inertial measurement unit inertial navigation system system error dynamics stochastic processes and error models linear estimation INS initialization and alignment the global positioning system (GPS) geodetic application.
538 citations